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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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086c45d406
This includes several changes to fix POI when used with MAVLink gimbal v2 input: - Correctly set capability flag that POI is supported. - Keep lat/lon and calculate attitude on each cycle, instead of only once on init. - Always publish gimbal manager information, with or withoug gimbal v2 device.
110 lines
3.8 KiB
C++
110 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file output_rc.cpp
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* @author Leon Müller (thedevleon)
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*/
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#include "output_rc.h"
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#include <uORB/topics/actuator_controls.h>
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#include <px4_platform_common/defines.h>
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#include <matrix/matrix/math.hpp>
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namespace vmount
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{
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OutputRC::OutputRC(const OutputConfig &output_config)
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: OutputBase(output_config)
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{
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}
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int OutputRC::update(const ControlData *control_data)
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{
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if (control_data) {
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//got new command
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_retract_gimbal = control_data->gimbal_shutter_retract;
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_set_angle_setpoints(control_data);
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}
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_handle_position_update();
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hrt_abstime t = hrt_absolute_time();
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_calculate_angle_output(t);
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actuator_controls_s actuator_controls{};
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actuator_controls.timestamp = hrt_absolute_time();
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// _angle_outputs are in radians, actuator_controls are in [-1, 1]
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actuator_controls.control[0] = (_angle_outputs[0] + _config.roll_offset) * _config.roll_scale;
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actuator_controls.control[1] = (_angle_outputs[1] + _config.pitch_offset) * _config.pitch_scale;
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actuator_controls.control[2] = (_angle_outputs[2] + _config.yaw_offset) * _config.yaw_scale;
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actuator_controls.control[3] = _retract_gimbal ? _config.gimbal_retracted_mode_value : _config.gimbal_normal_mode_value;
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_stream_device_attitude_status();
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_actuator_controls_pub.publish(actuator_controls);
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_last_update = t;
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return 0;
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}
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void OutputRC::print_status()
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{
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PX4_INFO("Output: AUX");
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}
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void OutputRC::_stream_device_attitude_status()
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{
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gimbal_device_attitude_status_s attitude_status{};
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attitude_status.timestamp = hrt_absolute_time();
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attitude_status.target_system = 0;
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attitude_status.target_component = 0;
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attitude_status.device_flags = gimbal_device_attitude_status_s::DEVICE_FLAGS_NEUTRAL |
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gimbal_device_attitude_status_s::DEVICE_FLAGS_ROLL_LOCK |
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gimbal_device_attitude_status_s::DEVICE_FLAGS_PITCH_LOCK |
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gimbal_device_attitude_status_s::DEVICE_FLAGS_YAW_LOCK;
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matrix::Eulerf euler(_angle_outputs[0], _angle_outputs[1], _angle_outputs[2]);
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matrix::Quatf q(euler);
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q.copyTo(attitude_status.q);
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attitude_status.failure_flags = 0;
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_attitude_status_pub.publish(attitude_status);
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}
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} /* namespace vmount */
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